CN110757508A - Device and method for measuring axial rigidity of rotary joint of robot - Google Patents
Device and method for measuring axial rigidity of rotary joint of robot Download PDFInfo
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- CN110757508A CN110757508A CN201911052375.1A CN201911052375A CN110757508A CN 110757508 A CN110757508 A CN 110757508A CN 201911052375 A CN201911052375 A CN 201911052375A CN 110757508 A CN110757508 A CN 110757508A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M5/00—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings
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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
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- General Physics & Mathematics (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The invention belongs to the technical field of mechanical equipment measurement, and particularly relates to a device and a method for measuring axial rigidity of a rotary joint of a robot; the measuring device comprises a base plate, a fixed end fixedly arranged on one side of the base plate, a movable end connected to the base plate in a sliding mode through a guide rail, and a force measuring device arranged on the other side of the base plate, wherein the force measuring device, the movable end, the fixed end and a to-be-measured rotating joint are positioned on the same axis, mounting seats used for fixing the to-be-measured rotating joint are arranged on the movable end and the fixed end, and a displacement detecting device used for measuring displacement of the movable end is further arranged on the base plate; the method has the advantages of simple structure, simple and convenient calculation method, high efficiency and precision and the like, and can provide data support for scientific research and production of the rotary joint of the robot.
Description
Technical Field
The invention belongs to the technical field of mechanical equipment measurement, and particularly relates to a device and a method for measuring axial rigidity of a rotary joint of a robot.
Background
Nowadays, robots are widely used in various industries; in the moving process of the robot, joints of the robot need to be driven to perform a series of motions such as linear motion, rotation and the like, so that all motions are completed. To achieve the predetermined movement, various rotational joints such as hinges, hooke's joints, and ball hinges are used in large numbers. With the continuous expansion of the application field of the robot, the requirements of the robot on each rotary joint are more and more strict. Not only is the transmission precision required to be high, but also the rigidity is high enough to meet the use requirement. In addition, in some special application fields such as aerospace, higher requirements are put on the rigidity due to the existence of huge impact. The robot revolute joint must therefore acquire its stiffness value after design production.
The rigidity acquisition method of the existing robot rotating joint is roughly divided into three methods, namely theoretical calculation, finite element simulation and actual measurement. The existing high-precision robot rotary joint mostly adopts rolling friction to replace the traditional sliding friction, the internal structure is complex, the transmission links are more, the difficulty of theoretical calculation is too large, and the method is generally not preferable. In addition, the number of movable components in the rotary joint of the robot is large, the contact condition and the pretightening force among the components are not easy to measure, and the connection relationship cannot be expressed really and quantificationally by adopting finite element simulation, so that the accuracy of the rigidity value of the rotary joint of the robot obtained by adopting the finite element simulation technology is difficult to guarantee. Therefore, only actual measurement is the simplest and most effective method for acquiring the rigidity of the rotary joint of the robot. However, the robot rotary joint has at least one degree of freedom which is not easy to fix, and certain difficulty is brought to the rigidity test, so that a simple, convenient and high-accuracy rigidity test device and method for the robot rotary joint is urgently needed to be researched.
Disclosure of Invention
In view of the above problems, the present invention aims to provide a device and a method for measuring axial stiffness of a robot revolute joint.
In order to solve the technical problems, the invention adopts a technical scheme that: the utility model provides a robot revolute joint axial rigidity measuring device, including base plate, fixed stiff end and the expansion end of setting on the base plate through guide rail sliding connection of setting in base plate one side and set up the measuring force device at the base plate opposite side, measuring force device, expansion end, stiff end and the revolute joint that awaits measuring are located the same axis, be provided with the mount pad that is used for fixed revolute joint that awaits measuring on expansion end and the fixed end, still be provided with the displacement detection device who is used for measuring the displacement of movable end on the base plate.
Further, the force measuring device is a pressure measuring device and/or a tension measuring device.
Furthermore, the tension measuring device comprises a tension meter connected with the movable end through a hinge and a cushion block fixedly arranged on the substrate, and the tension meter is movably connected with the cushion block through a guide rail.
As an improvement, the displacement detection device comprises a dial indicator and an indicator seat fixedly arranged on the base plate, the dial indicator is fixedly arranged on the indicator seat, a thimble of the dial indicator is parallel to the axis and vertically abutted to the movable end by the thimble of the dial indicator.
As a further improvement, the device further comprises a transition rod, wherein the installation seats of the movable end and the fixed end are respectively provided with a rotary joint to be tested, and the two rotary joints to be tested are fixedly connected through the transition rod.
As an improvement, the movable end comprises a bottom plate connected with a base plate slide rail, a mounting plate vertically arranged with the bottom plate and used for setting and mounting, and a reinforcing plate fixedly connected between the bottom plate and the mounting plate.
Furthermore, the number of the reinforcing plates is two, the reinforcing plates are respectively positioned on two side edges of the bottom plate, the reinforcing plates are provided with through holes, cross rods are fixedly arranged between the through holes, and the cross rods are connected with the force measuring device through hinges.
Furthermore, one end of the cross rod is provided with a positioning shaft shoulder, a groove is formed in the middle of the cross rod, the other end of the cross rod is of a threaded structure, and the cross rod penetrates through the through hole and then is fixed through a locking nut.
As an improvement, the device also comprises a rope, wherein one end of the rope is fixedly connected in the groove, and the other end of the rope is connected with the tension meter.
A method for measuring axial rigidity of a rotary joint of a robot comprises the following steps:
s1, acquiring the axial stiffness of the transition rod, and recording the axial stiffness as Kb;
s2, mounting the rotary joint of the robot to be tested on the mounting seat, and zeroing the displacement detection device and the force measurement device;
s3, acquiring the displacement under the preset force value; completing multiple tests with uniformly increased force values;
s4, analyzing the obtained data, fitting the slope of the data by a least square method, and recording the slope as K;
and S5, recording the axial rigidity of the rotary joint to be detected as Ka, and then obtaining the axial rigidity Ka of the rotary joint to be detected as 2 Kb/(K Kb-1).
The invention provides a device and a method for measuring the axial rigidity of a rotary joint of a robot, which have the advantages of simple structure, simple and convenient calculation method, higher efficiency and precision and the like, and can provide data support for scientific research and production of the rotary joint of the robot.
Drawings
FIG. 1 is a perspective view of an axial rigidity measuring device of a robot rotary joint according to the present invention;
FIG. 2 is a front view of an axial rigidity measuring device of a robot rotary joint of the present invention;
FIG. 3 is a perspective view of the movable end of the device for measuring axial rigidity of a rotary joint of a robot according to the present invention;
FIG. 4 is a perspective view of a cross bar of the device for measuring axial rigidity of a rotary joint of a robot.
| |
1 | Fixed end | 2 |
| |
3 | Rotary joint to be tested | 4 |
| Transition rod | 5 | Movable end | 6 |
| Through hole | 601 | Dial gauge | 7 |
| Watch seat | 8 | Tension meter | 9 |
| Cushion block | 10 | Linear guide rail of tension meter | 11 |
| Movable end |
12 | |
13 |
| |
14 | |
1401 |
| Groove | 1402 | |
1403 |
Detailed Description
The following describes a device and a method for measuring axial stiffness of a rotary joint of a robot provided by the invention in detail with reference to fig. 1-4.
The utility model provides a robot revolute joint axial rigidity measuring device, includes base plate, fixed stiff end and the expansion end of passing through guide rail sliding connection on the base plate of setting in the measuring force device of base plate opposite side of setting in the stiff end of base plate one side, measuring force device, expansion end, stiff end and the revolute joint that awaits measuring are located the same axis, be provided with the mount pad that is used for fixed revolute joint that awaits measuring on expansion end and the fixed end, still be provided with the displacement detection device who is used for measuring the displacement of movable end on the base plate.
Wherein, the force measuring device is a pressure measuring device and/or a tension measuring device. As a preferred embodiment, the force measuring device is a tension measuring device and comprises a tension meter and a cushion block, wherein the tension meter is connected with the movable end through a hinge, the cushion block is fixedly arranged on the base plate, and the tension meter is movably connected with the cushion block through a guide rail.
In order to further illustrate the technical scheme of the invention, the force measuring device takes a tension meter as an example, as shown in fig. 1-4, an axial rigidity measuring device of a rotary joint of the robot is provided, and the base plate is a foundation of the whole set of device and is fixed at a specific station through screws. The fixed end is fixed on the substrate in a screw connection mode. The transition flange plate is connected with the fixed end through a screw, and the transition flange plate is provided with a mounting seat. One end of the to-be-detected rotary joint is fixedly connected to the mounting seat through threads, and the other end of the to-be-detected rotary joint is fixedly connected with the transition rod through threads. Two identical rotary joints to be tested are connected to two sides of the transition rod. The movable end is fixedly connected with the movable end linear guide rail in a screw connection mode. The other side of the movable end linear guide rail is fixed on the base plate in a screw connection mode. The movable end reinforcing plate is provided with two coaxial through holes, and the cross rod penetrates through the through holes of the movable end reinforcing plate. One side of the cross rod is provided with a positioning shaft shoulder, the other side of the cross rod is provided with threads, and the locking nut is matched with the threads of the cross rod, so that the cross rod is locked on the movable end. The middle part of the cross rod is provided with a groove. The rope is sleeved in the groove of the cross rod, and the other side of the rope is connected with the tension meter. The tension meter is fixed on the tension meter linear guide rail in a screw connection mode, the tension meter linear guide rail is fixed on the cushion block in a screw connection mode, and the cushion block is fixed on the substrate in a screw connection mode. The magnetic gauge stand is fixed on the substrate, the dial indicator is fixed on the gauge stand, and the thimble of the dial indicator abuts against the inner surface of the movable end.
A method for measuring axial rigidity of a rotary joint of a robot comprises the following steps:
s1, acquiring the axial stiffness of the transition rod, and recording the axial stiffness as Kb;
s2, mounting the rotary joint of the robot to be tested on the mounting seat, and zeroing the displacement detection device and the force measurement device;
s3, acquiring the displacement under the preset force value; completing multiple measurements with uniformly increased force values;
s4, analyzing the obtained data, fitting the slope of the data by a least square method, and recording the slope as K;
and S5, recording the axial rigidity of the rotary joint to be detected as Ka, and then obtaining the axial rigidity Ka of the rotary joint to be detected as 2 Kb/(K Kb-1).
The invention provides a device and a method for measuring the axial rigidity of a rotary joint of a robot, which have the advantages of simple structure, simple and convenient calculation method, higher efficiency and precision and the like, and can provide data support for scientific research and production of the rotary joint of the robot.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. The utility model provides a robot revolute joint axial rigidity measuring device, its characterized in that, including base plate, fixed stiff end and the expansion end and the measuring force device of setting at the base plate opposite side of setting on the base plate of setting in base plate one side on base plate one side through guide rail sliding connection, measuring force device, expansion end, stiff end and the revolute joint that awaits measuring are located the same axis, be provided with the mount pad that is used for fixed revolute joint that awaits measuring on expansion end and the fixed end, still be provided with the displacement detection device who is used for measuring the displacement of movable end on the base plate.
2. A device for measuring the axial stiffness of a revolute joint of a robot according to claim 1, wherein the force measuring device is a pressure measuring device and/or a tension measuring device.
3. The device for measuring the axial rigidity of the rotary joint of the robot according to claim 2, wherein the tension measuring device comprises a tension meter hinged with the movable end and a cushion block fixedly arranged on the base plate, and the tension meter is movably connected with the cushion block through a guide rail.
4. The device for measuring the axial rigidity of the rotary joint of the robot according to claim 1, wherein the displacement detection device comprises a dial indicator and an indicator seat fixedly arranged on the base plate, the dial indicator is fixedly arranged on the indicator seat, and an ejector pin of the dial indicator is parallel to the axis and vertically abutted against the movable end.
5. The device for measuring the axial rigidity of the rotary joint of the robot as claimed in claim 1, further comprising a transition rod, wherein the mounting seats of the movable end and the fixed end are respectively provided with a rotary joint to be measured, and the two rotary joints to be measured are fixedly connected through the transition rod.
6. The device for measuring the axial rigidity of the rotary joint of the robot according to claim 3, wherein the movable end comprises a base plate connected with the base plate slide rail, a mounting plate arranged perpendicular to the base plate for mounting, and a reinforcing plate fixedly connected between the base plate and the mounting plate.
7. The device for measuring the axial stiffness of the revolute joint of the robot as claimed in claim 6, wherein there are two reinforcing plates respectively located on both sides of the bottom plate, the reinforcing plates are provided with through holes, cross bars are fixedly disposed between the through holes, and the cross bars are hinged to the force measuring device.
8. The device for measuring the axial rigidity of the rotary joint of the robot as claimed in claim 7, wherein one end of the cross bar is provided with a positioning shaft shoulder, a groove is arranged in the middle of the cross bar, the other end of the cross bar is of a threaded structure, and the cross bar is fixed by a lock nut after passing through the through hole.
9. The device for measuring the axial stiffness of the revolute joint of the robot according to claim 8, further comprising a rope, one end of which is fixedly linked in the groove and the other end of which is connected with a tension meter.
10. A method for measuring axial rigidity of a rotary joint of a robot is characterized by comprising the following steps:
s1, acquiring the axial stiffness of the transition rod, and recording the axial stiffness as Kb;
s2, mounting the rotary joint of the robot to be tested on the mounting seat, and zeroing the displacement detection device and the force measurement device;
s3, acquiring the displacement under the preset force value; completing multiple tests with uniformly increased force values;
s4, analyzing the obtained data, fitting the slope of the data by a least square method, and recording the slope as K;
and S5, recording the axial rigidity of the rotary joint to be detected as Ka, and then obtaining the axial rigidity Ka of the rotary joint to be detected as 2 Kb/(K Kb-1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911052375.1A CN110757508A (en) | 2019-10-31 | 2019-10-31 | Device and method for measuring axial rigidity of rotary joint of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911052375.1A CN110757508A (en) | 2019-10-31 | 2019-10-31 | Device and method for measuring axial rigidity of rotary joint of robot |
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| CN110757508A true CN110757508A (en) | 2020-02-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911052375.1A Pending CN110757508A (en) | 2019-10-31 | 2019-10-31 | Device and method for measuring axial rigidity of rotary joint of robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112936339A (en) * | 2021-01-23 | 2021-06-11 | 埃夫特智能装备股份有限公司 | Six-axis industrial robot J2 joint and J3 joint rigidity measuring method |
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| CN1748642A (en) * | 2005-10-13 | 2006-03-22 | 上海交通大学 | Method for non-intrusion measuring human hand and arm joint |
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| CN205404288U (en) * | 2016-03-03 | 2016-07-27 | 无棣海忠软管制造有限公司 | Hose extrusion rigidity measurement device |
| CN106855462A (en) * | 2016-12-19 | 2017-06-16 | 北京航空航天大学 | A kind of Combined Loading device for robot joint speed reducer performance test |
| CN109551521A (en) * | 2018-12-28 | 2019-04-02 | 中国科学院长春光学精密机械与物理研究所 | Six-degree-of-freedom parallel robot rigidity weak link apparatus for quantitatively and method |
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2019
- 2019-10-31 CN CN201911052375.1A patent/CN110757508A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1748642A (en) * | 2005-10-13 | 2006-03-22 | 上海交通大学 | Method for non-intrusion measuring human hand and arm joint |
| CN202836948U (en) * | 2012-09-27 | 2013-03-27 | 三一重工股份有限公司 | Strength and rigidity test device |
| CN103018104A (en) * | 2012-12-26 | 2013-04-03 | 南京理工大学 | Horizontal measuring device for axial static rigidity of ball screw pair and method thereof |
| CN203629968U (en) * | 2013-12-17 | 2014-06-04 | 江苏希西维轴承有限公司 | Device for detecting welding strength of rod end bearing |
| CN205404288U (en) * | 2016-03-03 | 2016-07-27 | 无棣海忠软管制造有限公司 | Hose extrusion rigidity measurement device |
| CN106855462A (en) * | 2016-12-19 | 2017-06-16 | 北京航空航天大学 | A kind of Combined Loading device for robot joint speed reducer performance test |
| CN109551521A (en) * | 2018-12-28 | 2019-04-02 | 中国科学院长春光学精密机械与物理研究所 | Six-degree-of-freedom parallel robot rigidity weak link apparatus for quantitatively and method |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112936339A (en) * | 2021-01-23 | 2021-06-11 | 埃夫特智能装备股份有限公司 | Six-axis industrial robot J2 joint and J3 joint rigidity measuring method |
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Application publication date: 20200207 |
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